Estimation device, estimation method, and program

Claims

1. An evaluation function setting means sets an evaluation function that indicates a better evaluation the smaller the difference between the state of the characteristic estimation target and the next state of the characteristic estimation target observed under a control command for the characteristic estimation target, and the next state of the characteristic estimation target calculated by simulation under the state, the control command, and the set values ​​of the parameters indicating the characteristics of the characteristic estimation target; Distribution calculation means for searching the distribution of the parameter values ​​using the evaluation function, An estimation device equipped with the following features.

2. The evaluation function setting means sets the evaluation function based on the state of the characteristic estimation target, a control command for the characteristic estimation target, and the posterior probability of transition data indicating the next state of the characteristic estimation target, under sampling values ​​of the parameter that follow the distribution of the parameter values, and the likelihood of the probability distribution of the parameter values ​​based on sampling values ​​of the parameter that follow the distribution of the parameter values. The estimation device according to claim 1.

3. Environmental data acquisition means for acquiring the state of the characteristic estimation target, control commands for the characteristic estimation target, and transition data indicating the next state of the characteristic estimation target. The estimation device according to claim 1 or claim 2, further comprising:

4. Feasibility determination means that determines whether or not a task designated as a task to be executed by a learned control command for the characteristic estimation target is executable based on the distribution of the parameter values. The estimation device according to claim 1 or claim 2, further comprising:

5. If it is determined that the previously learned control commands for the characteristic estimation target cannot execute the task that is defined as the task to be executed, the learning means performs additional learning of the previously learned control commands for the characteristic estimation target. The estimation device according to claim 4, further comprising:

6. If it is determined that the task to be executed can be performed using the learned control commands for the characteristic estimation target, the control parameter setting means determines the value of the parameter for controlling the characteristic estimation target. The estimation device according to claim 4, further comprising:

7. Computers An evaluation function is set up in which the smaller the difference between the state of the characteristic estimation target and the next state of the characteristic estimation target observed under a control command for the characteristic estimation target, and the next state of the characteristic estimation target calculated by simulation under the state, the control command, and the set values ​​of the parameters indicating the characteristics of the characteristic estimation target, the better the evaluation. The distribution of the parameter values ​​is explored using the aforementioned evaluation function. An estimation method that includes the following.

8. On the computer, Setting an evaluation function that indicates a better evaluation the smaller the difference between the state of the characteristic estimation target and the next state of the characteristic estimation target observed under a control command for the characteristic estimation target, and the next state of the characteristic estimation target calculated by simulation under the state, the control command, and the set values ​​of the parameters indicating the characteristics of the characteristic estimation target, The distribution of the parameter values ​​is explored using the evaluation function, A program that executes the command.